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fix bug.

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This commit is contained in:
xinyang
2019-08-07 02:59:34 +08:00
parent 274f67a51a
commit 41de64dbb6
3 changed files with 30 additions and 28 deletions
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1
armor/include/armor_finder/armor_finder.h
View File

@@ -124,6 +124,7 @@ private:
bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs);
bool findArmorBox(const cv::Mat &src, ArmorBox &box);
bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes);
bool stateSearchingTarget(cv::Mat &src); // searching state主函数
bool stateTrackingTarget(cv::Mat &src); // tracking state主函数

11
armor/src/armor_finder/find/find_armor_box.cpp
View File

@@ -83,11 +83,11 @@ static double centerDistance(const cv::Rect2d &box) {
return dx * dx + dy * dy;
}
bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes, uint8_t color) {
bool ArmorFinder::matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes) {
armor_boxes.clear();
for (int i = 0; i < light_blobs.size() - 1; ++i) {
for (int j = i + 1; j < light_blobs.size(); ++j) {
if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) {
if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), enemy_color)) {
continue;
}
cv::Rect2d rect_left = light_blobs.at(static_cast<unsigned long>(i)).rect.boundingRect();
@@ -101,13 +101,13 @@ bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBox
if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) {
continue;
}
if ((max_y + min_y) / 2 < 120) continue;
if (state == SEARCHING_STATE && (max_y + min_y) / 2 < 120) continue;
if ((max_x - min_x) / (max_y - min_y) < 0.8) continue;
LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)};
armor_boxes.emplace_back(
cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y),
pair_blobs,
color
enemy_color
);
}
}
@@ -130,8 +130,7 @@ bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) {
cv::waitKey(1);
}
CNT_TIME("boxes", {
if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) {
// cout << "Box fail!" << endl;
if (!matchArmorBoxes(src, light_blobs, armor_boxes)) {
return false;
}
});

44
armor/src/armor_finder/tracking_state/tracking_state.cpp
View File

@@ -10,10 +10,12 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
auto pos = target_box.rect;
if(!tracker->update(src, pos)){
target_box = ArmorBox();
LOGW("Track fail!");
return false;
}
if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){
target_box = ArmorBox();
LOGW("Track out range!");
return false;
}
@@ -25,8 +27,8 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
bigger_rect.width = pos.width * 2;
bigger_rect &= cv::Rect2d(0, 0, 640, 480);
// if(show_armor_box)
// showTrackSearchingPos("track", src, bigger_rect);
if(show_armor_box)
showTrackSearchingPos("track", src, bigger_rect);
cv::Mat roi = src(bigger_rect).clone();
@@ -42,27 +44,27 @@ bool ArmorFinder::stateTrackingTarget(cv::Mat &src) {
tracker = TrackerToUse::create();
tracker->init(src, target_box.rect);
}else{
// roi = src(pos).clone();
// if(classifier){
// cv::resize(roi, roi, cv::Size(48, 36));
// if(classifier(roi) == 0){
// target_box = ArmorBox();
// return false;
// }
// }else{
// cv::Mat roi_gray;
// cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
// cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
// contour_area = cv::countNonZero(roi_gray);
// if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
// target_box = ArmorBox();
// return false;
// }
// }
// target_box.rect = pos;
// target_box.light_blobs.clear();
roi = src(pos).clone();
if(classifier){
cv::resize(roi, roi, cv::Size(48, 36));
if(classifier(roi) == 0){
target_box = ArmorBox();
LOGW("Track classify fail range!");
return false;
}
}else{
cv::Mat roi_gray;
cv::cvtColor(roi, roi_gray, CV_RGB2GRAY);
cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY);
contour_area = cv::countNonZero(roi_gray);
if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){
target_box = ArmorBox();
return false;
}
}
target_box.rect = pos;
target_box.light_blobs.clear();
target_box = ArmorBox();
}
return true;
}